无人艇工程控制课程实践教学平台开发  

Development of Practice Teaching Platform of Unmanned Boat Engineering Control Course

作　　者：刘星 杨冰[1] 霍清华 侯彪[1] 候博 李建益 LIU Xing;YANG Bing;HUO Qinghua;HOU Biao;HOU Bo;LI Jianyi(Naval Petty Officer Academy,Bengbu 233012,Anhui,China)

机构地区：[1]海军士官学校,安徽蚌埠233012

出　　处：《造船技术》2023年第1期35-39,63,共6页

摘　　要：针对在教学环节中存在的问题,利用计算机技术和工业软件开发无人艇工程控制课程实践教学平台。该平台可进行无人水面艇(Unmanned Surface Vessel,USV)建模及运动轨迹控制。针对USV物理参数的不确定性,根据运动学和动力学模型设计控制器,分析控制器参数对USV运动性能的影响规律。无人艇工程控制课程实践教学平台的建设应用可提升学生对USV的运动操控、故障判断及维护保养能力。In view of the problems existing in the teaching links,the practice teaching platform of unmanned boat engineering control course is developed with the computer technology and industry software.The Unmanned Surface Vessel(USV)modeling and trajectory control can be conducted on the platform.In view of the uncertainty of USV physical parameters,the controller is designed according to the kinematics models and dynamics models,and the influence law of controller parameters on USV motion performance is analyzed.The construction and application of practice teaching platform of unmanned boat engineering control course can improve the ability of students in motion control,fault judgment,and maintenance of USV.

关 键 词：无人水面艇 实践教学平台 仿真试验平台 实船试验平台 运动轨迹控制 运动学建模 动力学建模 

分 类 号：U675.91[交通运输工程—船舶及航道工程]